/*
 * Copyright (c) 2018, Locus Robotics
 * Copyright (c) 2019, Steve Macenski
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
 * copyright notice, this list of conditions and the following
 * disclaimer in the documentation and/or other materials provided
 * with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
 * contributors may be used to endorse or promote products derived
 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <robot_localization/ros_filter_types.hpp>
#include <rclcpp/rclcpp.hpp>

#include <algorithm>
#include <string>
#include <memory>
#include <vector>

int main(int argc, char** argv)
{
	rclcpp::init(argc, argv);
	rclcpp::NodeOptions options;
	options.arguments({ "ukf_filter_node" });
	std::shared_ptr<robot_localization::RosUkf> filter =
		std::make_shared<robot_localization::RosUkf>(options);
	double alpha = filter->declare_parameter("alpha", 0.001);
	double kappa = filter->declare_parameter("kappa", 0.0);
	double beta = filter->declare_parameter("beta", 2.0);
	filter->getFilter().setConstants(alpha, kappa, beta);
	filter->initialize();
	rclcpp::spin(filter->get_node_base_interface());
	rclcpp::shutdown();
	return 0;
}
